Model-Based Systems Engineering Applied to the Detection and Correction of Object Slippage Within a Dexterous Robotic Hand from the Laboratory to Simulation

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dc.contributor.advisorBaras, John Sen_US
dc.contributor.authorMeehan, Charles Anthonyen_US
dc.contributor.departmentSystems Engineeringen_US
dc.contributor.publisherDigital Repository at the University of Marylanden_US
dc.contributor.publisherUniversity of Maryland (College Park, Md.)en_US
dc.date.accessioned2020-10-10T05:31:33Z
dc.date.available2020-10-10T05:31:33Z
dc.date.issued2020en_US
dc.description.abstractNow more than ever, it is important to have the ability to replicate robotic tasks in simulation and be able to validate the simulation against stakeholder requirements and verify the simulation against simulation requirements. In a previous study, a five-fingered robotic hand, the Shadow Dexterous Hand, with haptic BioTac SP sensors attached was used to detect the moment of slip of an object from the robotic hand while weight was continuously being added and stop the object from falling from the grasp while not overcorrecting. This work was accomplished by Dr. Zhenyu Lin, Dr. John S. Baras, and the author in the Autonomy Robotics Cognition Laboratory at the University of Maryland. This thesis will present the use of Model-Based System Engineering techniques to replicate the detection and correction of object slippage by a five-fingered robotic hand using force feedback control in simulation.en_US
dc.identifierhttps://doi.org/10.13016/hkwc-82sj
dc.identifier.urihttp://hdl.handle.net/1903/26577
dc.language.isoenen_US
dc.subject.pqcontrolledRoboticsen_US
dc.subject.pqcontrolledEngineeringen_US
dc.subject.pquncontrolledMBSEen_US
dc.subject.pquncontrolledRobotic Simulationen_US
dc.subject.pquncontrolledSlip Detectionen_US
dc.titleModel-Based Systems Engineering Applied to the Detection and Correction of Object Slippage Within a Dexterous Robotic Hand from the Laboratory to Simulationen_US
dc.typeThesisen_US

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